{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T18:13:34Z","timestamp":1770833614651,"version":"3.50.1"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2019,11,27]],"date-time":"2019-11-27T00:00:00Z","timestamp":1574812800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,11,27]],"date-time":"2019-11-27T00:00:00Z","timestamp":1574812800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Real-Time Image Proc"],"published-print":{"date-parts":[[2020,6]]},"DOI":"10.1007\/s11554-019-00924-4","type":"journal-article","created":{"date-parts":[[2019,12,16]],"date-time":"2019-12-16T16:48:23Z","timestamp":1576514903000},"page":"713-727","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Realization of CUDA-based real-time multi-camera visual SLAM in embedded systems"],"prefix":"10.1007","volume":"17","author":[{"given":"Jincheng","family":"Li","sequence":"first","affiliation":[]},{"given":"Guoqing","family":"Deng","sequence":"additional","affiliation":[]},{"given":"Wen","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Chaofan","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Fan","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Yong","family":"Liu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,11,27]]},"reference":[{"issue":"2","key":"924_CR1","doi-asserted-by":"publisher","first-page":"286","DOI":"10.1016\/j.cviu.2009.07.006","volume":"114","author":"M Kaess","year":"2010","unstructured":"Kaess, M., Dellaert, F.: Probabilistic structure matching for visual SLAM with a multi-camera rig. Comput. Vis. Image Underst. 114(2), 286\u2013296 (2010)","journal-title":"Comput. Vis. Image Underst."},{"key":"924_CR2","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1007\/978-3-319-27702-8_23","volume-title":"Field and Service Robotics","author":"A Das","year":"2016","unstructured":"Das, A., Kumar, D., El Bably, A., Waslander, S.L.: Taming the north: multi-camera parallel tracking and mapping in snow-laden environments. Field and Service Robotics, pp. 345\u2013359. Springer, Cham (2016)"},{"key":"924_CR3","doi-asserted-by":"crossref","unstructured":"Garc\u00eda, R.O., Valentin, L., Mart\u00ednez-Carranza, J., Sucar, L.E.: A fast algorithm for robot localization using multiple sensing units. In: Mexican Conference on Pattern Recognition, pp. 248\u2013257. Springer, Cham (2018)","DOI":"10.1007\/978-3-319-92198-3_25"},{"key":"924_CR4","doi-asserted-by":"crossref","unstructured":"Zhao, C., Fan, B., Hu, J., Tian, L., Zhang, Z., Li, S., Pan, Q.: Pose estimation for multi-camera systems. In: 2017 IEEE International Conference on Unmanned Systems, pp. 533\u2013538. IEEE (2017)","DOI":"10.1109\/ICUS.2017.8278403"},{"key":"924_CR5","doi-asserted-by":"crossref","unstructured":"Reboucas, R.A., Eller, Q.D.C., Habermann, M., Shiguemori, E.H.: Embedded system for visual odometry and localization of moving objects in images acquired by unmanned aerial vehicles. In: 2013 III Brazilian Symposium on Computing Systems Engineering, pp. 35\u201340. IEEE (2013)","DOI":"10.1109\/SBESC.2013.34"},{"issue":"1","key":"924_CR6","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1186\/s13634-016-0386-3","volume":"2016","author":"M Abouzahir","year":"2016","unstructured":"Abouzahir, M., Elouardi, A., Bouaziz, S., Latif, R., Tajer, A.: Large-scale monocular FastSLAM2. 0 acceleration on an embedded heterogeneous architecture. EURASIP J. Adv. Signal Process. 2016(1), 88 (2016)","journal-title":"EURASIP J. Adv. Signal Process."},{"key":"924_CR7","doi-asserted-by":"crossref","unstructured":"Asadi, K., Ramshankar, H., Pullagurla, H., Bhandare, A., Shanbhag, S., Mehta, P., Kundu, S., Han, K., Lobaton, E., Wu, T.: Building an integrated mobile robotic system for real-time applications in construction. arXiv:1803.01745 (2018)","DOI":"10.22260\/ISARC2018\/0063"},{"key":"924_CR8","doi-asserted-by":"crossref","unstructured":"Dine, A., Elouardi, A., Vincke, B., Bouaziz, S.: Graphbased SLAM embedded implementation on low-cost architectures: a practical approach. In: 2015 IEEE International Conference on Robotics and Automation, pp. 4612\u20134619. IEEE (2015)","DOI":"10.1109\/ICRA.2015.7139838"},{"issue":"2","key":"924_CR9","doi-asserted-by":"publisher","first-page":"291","DOI":"10.1007\/s10846-014-0085-y","volume":"78","author":"A Harmat","year":"2015","unstructured":"Harmat, A., Trentini, M., Sharf, I.: Multi-camera tracking and mapping for unmanned aerial vehicles in unstructured environments. J. Intell. Robot. Syst. 78(2), 291\u2013317 (2015)","journal-title":"J. Intell. Robot. Syst."},{"key":"924_CR10","doi-asserted-by":"crossref","unstructured":"Schneider, J., F\u00f6rstner, W.: Real-time accurate geolocalization of a mav with omnidirectional visual odometry and gps. In: European Conference on Computer Vision, pp. 271\u2013282. Springer, Cham (2014)","DOI":"10.1007\/978-3-319-16178-5_18"},{"key":"924_CR11","doi-asserted-by":"crossref","unstructured":"Schneider, J., Eling, C., Klingbeil, L., Kuhlmann, H., F\u00f6rstner, W., Stachniss, C.: Fast and effective online pose estimation and mapping for UAVs. In: 2016 IEEE International Conference on Robotics and Automation, pp. 4784\u20134791. IEEE (2016)","DOI":"10.1109\/ICRA.2016.7487682"},{"key":"924_CR12","doi-asserted-by":"crossref","unstructured":"Wahrmann, D., Hildebrandt, A.C., Wittmann, R., Sygulla, F., Rixen, D., Buschmann, T.: Fast object approximation for real-time 3D obstacle avoidance with biped robots. In: 2016 IEEE International Conference on Advanced Intelligent Mechatronics, pp. 38\u201345. IEEE (2016)","DOI":"10.1109\/AIM.2016.7576740"},{"key":"924_CR13","doi-asserted-by":"crossref","unstructured":"Cheng, Y., Bai, J., Xiu, C.: Improved RGB-D vision SLAM algorithm for mobile robot. In: 2017 29th Chinese Control And Decision Conference, pp. 5419\u20135423. IEEE (2017)","DOI":"10.1109\/CCDC.2017.7979460"},{"key":"924_CR14","doi-asserted-by":"crossref","unstructured":"Li, C., Wei, H., Lan, T.: Research and implementation of 3D SLAM algorithm based on kinect depth sensor. In: International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, pp. 1070\u20131074. IEEE (2016)","DOI":"10.1109\/CISP-BMEI.2016.7852872"},{"key":"924_CR15","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.jpdc.2016.03.001","volume":"92","author":"Y Lu","year":"2016","unstructured":"Lu, Y., Li, Y., Song, B., Zhang, W., Chen, H., Peng, L.: Parallelizing image feature extraction algorithms on multi-core platforms. J. Parallel Distrib. Comput. 92, 1\u201314 (2016)","journal-title":"J. Parallel Distrib. Comput."},{"issue":"2","key":"924_CR16","doi-asserted-by":"publisher","first-page":"138","DOI":"10.1007\/s10766-009-0122-9","volume":"38","author":"N Zhang","year":"2010","unstructured":"Zhang, N.: Computing optimised parallel speeded-up robust features (p-surf) on multi-core processors. Int. J. Parallel Program. 38(2), 138\u2013158 (2010)","journal-title":"Int. J. Parallel Program."},{"key":"924_CR17","unstructured":"Zhang, Q., Chen, Y., Zhang, Y., Xu, Y.: SIFT implementation and optimization for multi-core systems. In: 2008 IEEE International Symposium on Parallel and Distributed Processing, pp. 1\u20138. IEEE (2008)"},{"issue":"2","key":"924_CR18","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1007\/s11554-014-0446-6","volume":"14","author":"KA Acharya","year":"2018","unstructured":"Acharya, K.A., Babu, R.V., Vadhiyar, S.S.: A real-time implementation of SIFT using GPU. J. Real-Time Image Process. 14(2), 267\u2013277 (2018)","journal-title":"J. Real-Time Image Process."},{"issue":"6","key":"924_CR19","doi-asserted-by":"publisher","first-page":"2379","DOI":"10.1007\/s11554-018-0755-2","volume":"16","author":"A Mehrez","year":"2018","unstructured":"Mehrez, A., Morgan, A.A., Hemayed, E.E.: Speeding up spatiotemporal feature extraction using GPU. J. Real-Time Image Process.\u00a016(6),\u00a02379\u20132407 (2019). https:\/\/doi.org\/10.1007\/s11554-018-0755-2","journal-title":"J. Real-Time Image Process."},{"issue":"7","key":"924_CR20","first-page":"30","volume":"90","author":"MS Mohammadi","year":"2014","unstructured":"Mohammadi, M.S., Rezaeian, M.: Towards affordable computing: SiftCU a simple but elegant GPU-based implementation of SIFT. Int. J. Comput. Appl. 90(7), 30\u201337 (2014)","journal-title":"Int. J. Comput. Appl."},{"issue":"10","key":"924_CR21","doi-asserted-by":"publisher","first-page":"375","DOI":"10.5772\/57057","volume":"10","author":"W Yan","year":"2013","unstructured":"Yan, W., Shi, X., Yan, X., Wang, L.: Computing Open-SURF on OpenCL and general purpose GPU. Int. J. Adv. Robot. Syst. 10(10), 375 (2013)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"924_CR22","doi-asserted-by":"crossref","unstructured":"Yonglong, Z., Kuizhi, M., Xiang, J., Peixiang, D.: Parallelization and optimization of sift on GPU using CUDA. In: 2013 IEEE 10th International Conference on High Performance Computing and Communications & 2013 IEEE International Conference on Embedded and Ubiquitous Computing, pp. 1351\u20131358. IEEE (2013)","DOI":"10.1109\/HPCC.and.EUC.2013.192"},{"issue":"4","key":"924_CR23","doi-asserted-by":"publisher","first-page":"1025","DOI":"10.1007\/s11554-016-0594-y","volume":"16","author":"X Zhi","year":"2016","unstructured":"Zhi, X., Yan, J., Hang, Y., Wang, S.: Realization of CUDA-based real-time registration and target localization for high-resolution video images. J. Real-Time Image Process. 16(4), 1025\u20131036 (2019).\u00a0https:\/\/doi.org\/10.1007\/s11554-016-0594-y","journal-title":"J. Real-Time Image Process."},{"key":"924_CR24","volume-title":"CUDA by Example: An Introduction to General-Purpose GPU Programming","author":"J Sanders","year":"2010","unstructured":"Sanders, J., Kandrot, E.: CUDA by Example: An Introduction to General-Purpose GPU Programming. Addison-Wesley Professional, Boston (2010)"},{"issue":"2","key":"924_CR25","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","volume":"60","author":"DG Lowe","year":"2004","unstructured":"Lowe, D.G.: Distinctive image features from scaleinvariant keypoints. Int. J. Comput. Vis. 60(2), 91\u2013110 (2004)","journal-title":"Int. J. Comput. Vis."},{"key":"924_CR26","doi-asserted-by":"crossref","unstructured":"Calonder, M., Lepetit, V., Strecha, C., Fua, P.: Brief: binary robust independent elementary features. In: European Conference on Computer Vision, pp. 778\u2013792. Springer, Berlin (2010)","DOI":"10.1007\/978-3-642-15561-1_56"},{"key":"924_CR27","doi-asserted-by":"crossref","unstructured":"Rosten, E., Drummond, T.: Machine learning for highspeed corner detection. In: European Conference on Computer Vision, pp. 430\u2013443. Springer, Berlin (2006)","DOI":"10.1007\/11744023_34"},{"key":"924_CR28","doi-asserted-by":"crossref","unstructured":"Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: ORB: an efficient alternative to SIFT or SURF. In: 2011 IEEE International Conference on Computer Vision, pp. 2564\u20132571. IEEE (2011)","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"924_CR29","doi-asserted-by":"crossref","unstructured":"Houben, S., Quenzel, J., Krombach, N., Behnke, S.: Efficient multi-camera visual-inertial SLAM for micro aerial vehicles. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1616\u20131622. IEEE (2016)","DOI":"10.1109\/IROS.2016.7759261"},{"key":"924_CR30","unstructured":"Urban, S., Hinz, S.: MultiCol-SLAM-a modular realtime multi-camera slam system (2016)"},{"issue":"5","key":"924_CR31","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: Orb-slam2: an open-source slam system for monocular, stereo, and rgb-d cameras. IEEE Trans. Robot. 33(5), 1255\u20131262 (2017)","journal-title":"IEEE Trans. Robot."},{"key":"924_CR32","doi-asserted-by":"crossref","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: Fast relocalisation and loop closing in keyframe-based SLAM. In: 2014 IEEE International Conference on Robotics and Automation, pp. 846\u2013853. IEEE (2014)","DOI":"10.1109\/ICRA.2014.6906953"},{"issue":"5","key":"924_CR33","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J.M.M., Tard\u00f3s, J.D.: ORBSLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Robot. 31(5), 1147\u20131163 (2015)","journal-title":"IEEE Trans. Robot."},{"key":"924_CR34","unstructured":"Zhaowei, H., Yunzhi, C.,\u00a0Yiyou, J.: \u2018ORB-SLAM2 GPU Optimization\u2019. https:\/\/yunchih.github.io\/ORB-SLAM2-GPU2016-final\/"}],"container-title":["Journal of Real-Time Image Processing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11554-019-00924-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11554-019-00924-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11554-019-00924-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,11,26]],"date-time":"2020-11-26T00:48:29Z","timestamp":1606351709000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11554-019-00924-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11,27]]},"references-count":34,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2020,6]]}},"alternative-id":["924"],"URL":"https:\/\/doi.org\/10.1007\/s11554-019-00924-4","relation":{},"ISSN":["1861-8200","1861-8219"],"issn-type":[{"value":"1861-8200","type":"print"},{"value":"1861-8219","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,11,27]]},"assertion":[{"value":"17 December 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 October 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 November 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}